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Nature of Operations and Significant Accounting Policies - Other Various Policies (Details)
$ in Millions
12 Months Ended
Dec. 31, 2020
USD ($)
Counterparty
Dec. 31, 2019
USD ($)
Counterparty
Dec. 31, 2018
USD ($)
Long-Term Debt      
Minimum maturity period at date of issuance for debt to be classified as long-term 1 year    
Reinsurance      
Net ceded reinsurance recoverables related to claims received $ 1,095.3 $ 997.8  
Amount of net ceded reinsurance recoverables related to claims received with five largest ceded reinsurers $ 506.3 $ 457.2  
Percentage of net ceded reinsurance recoverables related to claims received with five largest ceded reinsurers (as a percent) 97.00% 98.00%  
Number of largest ceded reinsurers | Counterparty 5 5  
Premiums and other considerations:      
Premiums and other considerations, Direct $ 6,645.4 $ 8,428.1 $ 6,928.3
Premiums and other considerations, Assumed 1.7 1.6 1.7
Premiums and other considerations, Ceded (609.7) (563.1) (520.4)
Premiums and other considerations 6,037.4 7,866.6 6,409.6
Benefits, claims and settlement expenses:      
Benefits, claims and settlement expenses, Direct 8,788.3 10,463.6 8,667.7
Benefits, claims and settlement expenses, Assumed 21.8 23.1 24.9
Benefits, claims and settlement expenses, Ceded (528.6) (580.9) (500.1)
Benefits, claims and settlement expenses 8,281.5 9,905.8 $ 8,192.5
Separate Accounts      
Separate account that primarily includes shares of Principal Financial Group, Inc. stock that were allocated and issued to eligible participants of qualified employee benefit plans as part of the 2001 demutualization $ 80.4 $ 100.4